High response master-slave control eye robot system using gaze tracking data

Ayato Kanada; Tomoaki Mashimo; Tetsuto Minami; Kazuhiko Terashima

doi:10.1109/IROS.2015.7353483

High response master-slave control eye robot system using gaze tracking data

Ayato Kanada, Tomoaki Mashimo, Tetsuto Minami, Kazuhiko Terashima

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

We propose an eye robot system with master-slave control using operator-gaze tracking data, which can produce a high response level such as that of the human eyes. The operators can move a remote robot camera by only moving their eye (master) in front of an eye tracking apparatus and obtain visual information of the environment surrounding the robot's eye (slave). The use of ultrasonic motors has enabled the high responsiveness of the robot eye and the compactness of the robot body. Our graphical user interface (GUI) makes the operation intuitive. We evaluate the robot system from modeling the ultrasonic motor model to the usability of GUI. Finally, the proposed robot system's usability compares well with that of the joystick typically used to operate robots.

Original language	English
Title of host publication	IROS Hamburg 2015 - Conference Digest
Subtitle of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	937-943
Number of pages	7
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353483
Publication status	Published - Dec 11 2015
Externally published	Yes
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: Sept 28 2015 → Oct 2 2015

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	9/28/15 → 10/2/15

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2015.7353483

Cite this

Kanada, A., Mashimo, T., Minami, T., & Terashima, K. (2015). High response master-slave control eye robot system using gaze tracking data. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 937-943). [7353483] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353483

High response master-slave control eye robot system using gaze tracking data. / Kanada, Ayato; Mashimo, Tomoaki; Minami, Tetsuto et al.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. p. 937-943 7353483 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kanada, A, Mashimo, T, Minami, T & Terashima, K 2015, High response master-slave control eye robot system using gaze tracking data. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems., 7353483, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, Institute of Electrical and Electronics Engineers Inc., pp. 937-943, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 9/28/15. https://doi.org/10.1109/IROS.2015.7353483

Kanada A, Mashimo T, Minami T, Terashima K. High response master-slave control eye robot system using gaze tracking data. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2015. p. 937-943. 7353483. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7353483

Kanada, Ayato ; Mashimo, Tomoaki ; Minami, Tetsuto et al. / High response master-slave control eye robot system using gaze tracking data. IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 937-943 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "We propose an eye robot system with master-slave control using operator-gaze tracking data, which can produce a high response level such as that of the human eyes. The operators can move a remote robot camera by only moving their eye (master) in front of an eye tracking apparatus and obtain visual information of the environment surrounding the robot's eye (slave). The use of ultrasonic motors has enabled the high responsiveness of the robot eye and the compactness of the robot body. Our graphical user interface (GUI) makes the operation intuitive. We evaluate the robot system from modeling the ultrasonic motor model to the usability of GUI. Finally, the proposed robot system's usability compares well with that of the joystick typically used to operate robots.",

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AB - We propose an eye robot system with master-slave control using operator-gaze tracking data, which can produce a high response level such as that of the human eyes. The operators can move a remote robot camera by only moving their eye (master) in front of an eye tracking apparatus and obtain visual information of the environment surrounding the robot's eye (slave). The use of ultrasonic motors has enabled the high responsiveness of the robot eye and the compactness of the robot body. Our graphical user interface (GUI) makes the operation intuitive. We evaluate the robot system from modeling the ultrasonic motor model to the usability of GUI. Finally, the proposed robot system's usability compares well with that of the joystick typically used to operate robots.

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High response master-slave control eye robot system using gaze tracking data

Abstract

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